Other methods considered humans assisting robots based on both human judgment and robots requests. In [1]}, an interactive human-robot semantic sensing framework was proposed. Through this framework, the robot can pose questions to the operator, who acts as a human sensor, in order to increase its semantic knowledge or assure its observations in a target search mission. Moreover, the human operator can intervene at any moment to provide useful information to the robot. Here, human assistance is limited to the sensing primitive. In the context of adjustable autonomy, [2]} proposed a remotely operated robot that changes its navigation autonomy level when a degradation in performance is detected. In addition, operators can choose to change autonomy levels based on their own judgment. In [3]}, a human can influence the robot autonomy via direct control or task assignment, albeit the proposed controller allows the robot to take actions in case of human error. Some researchers refer to MI as the ability of the robot to assist in or takeover the tasks that are initially performed by the human [4]}, or combine human inputs with automation recommendations to enhance performance [5]}. Finally, in [6]} the concept of MI is used to decide what task to be performed by which agent in a human-robot team. In contrast to such systems where the human is a teammate who performs tasks, the JISA framework proposes the human as a supervisor who intervenes to assist the autonomous agent as needed: either on-demand or based on SA.
